Method of mooring to partner ship

FIELD: marine operations.

SUBSTANCE: current position of approach trajectory is determined in the form of straight line passing through two points on plane, one representing mooring ship center of gravity another one making a preset point. Method of mooring consists in dividing approach in two stages, each using its preset point on plane. Position of preset points on plane in whatever time us determined using current coordinates of partner ship bow and stern points, preset position of mooring ship with respect to partner ship at final mooring stage, and its stopping distance required for it to make its initial speed equal to that of partner ship.

EFFECT: safe mooring.

4 cl, 6 dwg

The invention relates to water transport and for the management of the vessel (hereinafter moored vessel) in carrying out mooring operations the vessel partner largest transverse displacements of two points moored vessel, a bow and A stern, from the current position of the trajectory of the approaching vessel partner (figure 1).

A known method of controlling the movement of the object (the ship) in the execution of his rapprochement with another moving object (application No. 2006111031/11) by the values of the transverse displacements located on the median plane of the ship fore and aft In points from the current position of the trajectory approximation, in which the calculated lateral displacement of these points; for the calculation of the transverse displacements of A bow and stern points In the vessel of their coordinates in the stationary coordinate system A(X_0A, Y_0A), (X_0B, Y_0B) (figure 2) is measured using a satellite navigation system (SNS) and with differential corrections, responsible for steering the vessel is produced depending on the combination of the transverse displacement of the nasal d_Aand feed d_Bpoints of the vessel relative to the current position of the trajectory of convergence, which is determined using a specified point as the object to which the converging of the vessel, and the center of gravity of the vessel; the current position of the specified point and the current position of the center of gravity of the aircraft is to determine the current position of the trajectory of convergence in a straight line, connecting the current position of the specified point and the current position of the center of gravity of the vessel G, the current coordinates of the center of gravity of the vessel in a stationary coordinate system are calculated according to the formula:

where X_0G,Y_0G- the coordinates of the center of gravity of the vessel in a stationary coordinate system;

X_0A, Y_0A- coordinates of a point in a fixed coordinate system;

X_0B, Y_0B- coordinates of a point In a fixed coordinate system;

X_AX_Bthe abscissa of the bow and stern point of the vessel, respectively, in the coordinate system (X, Y)associated with the vessel;

X_Gthe abscissa of the center of gravity of the vessel in the coordinate system associated with the vessel,

the current coordinates of a given point is determined using a satellite navigation system and with differential corrections.

However, in this method of control of the boat, performing approximation with a given point, there are certain shortcomings that prevent you from using it in the management moored vessel in carrying out mooring operations to the Board partner, i.e. the convergence of the moored vessel with the vessel partner, as the control algorithm moored ship no controls, providing conditions for safe execution of mooring operations to a Board partner is.

Conditions for safe implementation of moored vessel berthing operations of the vessel partner are:

1) equality of the velocities of the moored vessel (υ) and ship partner (υ_nin the final stage of convergence, i.e. at the time when moored vessel is moving parallel to the Board partner at the minimum specified traverses the distance h from the ship partner (figure 3);

2) equality courses moored vessel (ψ) and ship partner (ψ_nin the final stage of convergence (figure 3);

3) the distance between the sides of the moored vessel and the vessel partner (traverse distance) in the final stage of convergence must be defined from the point of view of mutual security involved in the mooring of vessels value (h) (3);

4) the longitudinal position of the moored vessel relative to the vessel partner in the final stage of approach should be fixed, i.e. the distance between the center of gravity of the moored vessel (G) and the center of gravity of the ship partner (G_nin the fixed coordinate system in the direction of the longitudinal axis X_ncoordinate system (X_n, Y_n)associated with the vessel's partner, in the final stage of convergence must have a certain preset value (m) (3), and the value of m is positive if the center of gravity of the moored vessel G is located is in the direction of the nose of the ship partner with respect to the position of the centre of gravity of the ship partner G _n.

The technical result, which is aimed by the invention lies in the observance of the conditions for safe execution of mooring operations moored vessel to Board the ship partner.

To achieve the technical result in the way of control moored vessel in carrying out mooring operations the vessel partner values of the transverse displacements located on the median plane of the ship fore and aft In points from the current position of the trajectory approximation, in which the calculated lateral displacement of these points; for the calculation of the transverse displacements of the fore and aft points In the vessel of their coordinates in the stationary coordinate system A(X_0A, Y_0A), (X_0B, Y_0B) (figure 2) is measured using a satellite navigation system (SNS) and with differential corrections, responsible for steering the vessel is produced depending on the combination of the transverse displacement of the nasal d_Aand feed d_Bpoints of the vessel relative to the current position of the trajectory of convergence, which is determined using a specified point as the object to which the converging of the vessel, and the center of gravity of the vessel; the current position of the specified point and the current position of the center of gravity of the vessel determines the current position of the trajectory convergence passing through two points in the ideal straight line, connecting the current position of the specified point and the current position of the center of gravity of the vessel G, the current coordinates of the center of gravity of the vessel in a stationary coordinate system are calculated according to formulas (1), the current coordinates of a given point is determined using a satellite navigation system and with differential corrections, addition is determined using the SNA and with differential corrections coordinates nasal And_n(X_0An, Y_0An) and feed In_n(X_0Bn, Y_0Bnpoints located on the median plane of the ship partner (figure 4) in a fixed coordinate system, expect:

1) the coordinates of the center of gravity of the ship partner G_n(X_0Gn, Y_0Gnin the fixed coordinate system by the formulas:

where X_0Gn, Y_0Gn- the coordinates of the center of gravity of the ship partner in a stationary coordinate system;

X_0An, Y_0An- coordinates of the points a_nin the stationary coordinate system;

X_0Bn, Y_0Bn- coordinates of a point In_nin the stationary coordinate system;

X_AnX_Bnthe abscissa fore and aft points of the ship partner, respectively, in the coordinate system (X_n, Y_n)associated with the vessel;

X_Gnthe abscissa of the center of gravity of the ship partner in the coordinate system associated with the aircraft is m a partner;

2) the coordinates of the pointslocated on the perpendicular to the median plane of the ship partner, restored in a_nand In_nrespectively, by the formulas:

thus the value of the segments And_n=_n=h₀is determined by using the dependencies represented by the formula:

in expressions (3) and (4) the following notation is used:

In - the width of the moored vessel;

In_n- the width of the vessel's partner;

ψ_n- the ship's course partner, the value of the ship's course partner ψ_nthis is calculated using the coordinate values of points a_nand In_nin the stationary coordinate system, namely:

3) the coordinates of the projection of the center of gravity of the ship partnerin the stationary coordinate system on the trajectory of convergence in the final stage of the mooring, which is parallel to the median plane of the ship a partner through the point(figure 4):

4) the coordinates of the second given point R₂(X_0P2, Y_0P2) (the numbering of the specified points adopted in the course of movement of the moored vessel in the direction of the ship partner) is fixed to rdinate system:

5) the coordinates of the first point-in P₁(X_0P1, Y_0P1in the stationary coordinate system:

where S_T- brake moored vessel when moving with velocity υ=υ_nto speed υ=υ_to=υ_n(υ_n- initial velocity, i.e. the speed of the moored vessel in the first given point R₁, υ_to- end speed, i.e. the speed of the moored vessel in the second given point R₂the length of the braking distance equal to the distance, permeable moored vessel at its transition from a given point P₁in the set point R₂.

Having obtained this way data allows the convergence of the moored vessel with the vessel a partner in two stages:

The I-th stage output moored vessel in a first target point P₁(figure 5). The current position of the first given point P₁(X_0P1, Y_0P1) at the current position of the line passing through the current position of the pointsthe current coordinates of which are determined by the formulas (3), is determined by the value of the segment P₁P₂whose value is equal to the distance, permeable moored vessel while reducing its current speed ν is equal to the speed of the ship partner ν_nat the time o the Yes moored vessel on the beam of the ship partner, that is, when the center of gravity of the moored vessel will be located at the point R₂that is one of the conditions of safe mooring. Management moored vessel during rendezvous with the ship partner is carried out by the values of the transverse deviations of the nasal d_Aand feed d_Bpoints moored vessel from the current position of the trajectory convergence passing through the current position of the center of gravity of the moored vessel G(X_0G, Y_0G) and the current position of the first given point

P₁(X_0P1, Y_0P1). The end of the I-th stage of convergence moored vessel with the vessel partner coincides with the moment of release of the moored vessel in the first set point, i.e. at the moment when the center of gravity of the moored vessel will be located at the point P₁.

II stage - output moored vessel to the second target point R₂(6). The current position of the second given point R₂(X_0P2, Y_0P2) at the current position of the line passing through the pointthe current coordinates of which are determined by the formulas (3), is determined by the distance m between the centers of gravity of the moored vessel and the vessel partner in the final stage of the mooring, while the current position of the center of gravity of the moored vessel G (X_0G, Y_0G) is determined by f is salami (1), and the current position of the center of gravity of the ship partner G_n(X_0Gn, Y_0Gn) formula (2). Management moored vessel during rendezvous with the ship partner is carried out by the values of the transverse deviations of the nasal d_Aand feed d_Bpoints moored vessel from the current position of the trajectory of convergence, which is the current position of the line passing through the point. The end of the second stage of convergence moored vessel with the vessel partner coincides with the moment of release of the moored vessel to the second target point, i.e. at the moment when the center of gravity of the moored vessel will be located at the point P2.

Distinctive features of the proposed method from the above known closest to him, are the following:

additionally is determined using a satellite navigation system and with differential corrections coordinates nasal And_n(X_0An, Y_0An) and feed In_n(X_0Bn, Y_0Bnpoints located on the median plane of the ship a partner in a stationary coordinate system, expect:

- the coordinates of the center of gravity of the ship partner G_n(X_0Gn, Y_0Gnin the fixed coordinate system;

- the coordinates of the pointslocated on the perpendicular is to the median plane of the ship partner, restored in a_nand In_nrespectively;

- projected coordinates of the center of gravity of the ship partnerin the stationary coordinate system on the trajectory of convergence in the final stage of the mooring, which is parallel to the median plane of the ship a partner through the pointrespectively;

- the coordinates of the second given point R₂(X_0P2, Y_0P2in the fixed coordinate system;

- the coordinates of the first point-in P₁(X_0P1, Y_0P1in the fixed coordinate system.

The convergence of the moored vessel with the vessel partner is performed in two stages:

The I-th stage output moored vessel in a first target point P₁.

II stage - output moored vessel to the second target point R₂.

The use of the proposed control algorithm moored vessel allows to observe the conditions of the safe performance of mooring operations moored vessel to Board partner, namely:

- speed moored vessel (υ) and ship partner (υ_nin the final stage of their convergence will be equal to;

courses moored vessel (ψ) and ship partner (ψ_nin the final stage of their convergence will be equal to;

- side moored vessels in the final stage of their convergence will be established be the dangerous distance h;

the longitudinal position of the moored vessel relative to the vessel partner in the final stage of approach will correspond to the value set in advance.

Proposed method of control the vessel in carrying out mooring operations to a Board partner is as follows. Within the contours of the moored vessel and the vessel partner in their diametral planes to pick two points, one of which is located in the nose And (moored vessel),

A_n(ship partner), the other in the stern (moored vessel) (figure 2, figure 4), In_n(ship partner) relative to the middle frame of the respective vessel. The distance between points a and b, a_nand In_nchoose depending on the technical possibilities for accommodation in the indicated points of reception antennas of the SNA. The greater this distance, the better the system motion control moored vessel engaged in convergence with the vessel's partner.

The coordinates of the points a and b, a_nIn_nin the stationary coordinate system determined continuously with high accuracy (±1.0 m), it became possible with the introduction of SNA coastal stations, calculating and transmitting to the court of differential corrections. Using the coordinate values of the points of the moored vessel And(X_0A, Y_0A), (X₀, Y_0Band the ship partner And_n Up, Y_0An)_n(X_It, Y_0Bnin the stationary coordinate system, the coordinates of the same points in the moving coordinate systems associated with moored vessel And(X_And, Y_A), (X_In, Y_Inand ship partner AP(X_AP, Y_An)_n(X_RR, Y_Bn), the coordinates of the centers of gravity of the moored vessel in its associated movable coordinate system G(X_G, Y_Gand the ship partner in its associated movable coordinate system G_n(X_0Gn, Y_0Gn), as well as the values of the parameters h and m count:

the coordinates of the center of gravity of the moored vessel G (X_0G, Y_0Gin the fixed coordinate system by the formulas (1);

- the coordinates of the center of gravity of the ship partner G_n(X_0Gn, Y_0Gn), in the stationary coordinate system by the formulas (2);

- the coordinates of the pointslocated on the perpendicular to the median plane of the ship partner, restored in a_nand In_nrespectively, by the formulas(3), (4), (5);

- projected coordinates of the center of gravity of the ship partnerin the stationary coordinate system on the trajectory of convergence in the final stage of the mooring, which is parallel to the median plane of the ship a partner through the pointby the formulas (6);

the coordinates of the second given point R ₂(X_0P2, Y_0P2in the fixed coordinate system by the formulas (7);

- the coordinates of the first point-in P₁(X_0P1, Y_0P1in the fixed coordinate system by the formulas (8).

Knowing the coordinates of the first set point and the coordinates of the center of gravity of the moored vessel, determine the current position of the trajectory convergence passing through the first target point P₁(X_0P1, Y_0P1and the center of gravity of the moored vessel G(X_0G, Y_0G). Then determine the transverse displacement of points a and b from the specified trajectory approximation by the formula:

Continuously determined coordinate values of points a and b, a_nand In_nallow to continuously calculate the coordinates of the center of gravity of the moored vessel G and the first given point P₁lateral displacement d_Aand d_inpoints a and b are moored vessel from the current position of the trajectory convergence. Moreover, the transverse displacement of the considered point relative to the current position of the trajectory approximation is considered positive if it moves to the right from the path, and negative if it moves to the left.

Transverse bias is produced a signal to the deviation of the steering body, such as steering moored vessel by law:

where k_A, k_B- gain on pepper shifts fore and aft points moored vessel from the current position of the trajectory convergence. This is a positive value, and_Andmore k_in. The rudder angle α is positive when it is relaying to the starboard side moored vessel.

At the time of exit moored vessel in the first set point, which corresponds to the equality of the coordinates of the center of gravity of the moored vessel G(X_0G, Y_0G) and the coordinates of the first given point P₁(X_0G, Y_0P1) (X_0G=X_0P1; Y_0G=Y_0P1), it goes to the rendezvous with the second given point R₂the current position of the trajectory of convergence corresponds to the position of the line passing through the pointcoordinates of which are calculated continuously by the formulas(3), (4), (5). As is known, the current coordinates of the second given point R₂(X_0P2, Y_0P2)lying on the linecalculated continuously by the formulas (7).

Continuously determined coordinate values of points a and b, a_nand In_nallow to continuously calculate the coordinates of the points, the center of gravity of the moored vessel G and the center of gravity of the ship partner G_nthe second given point R₂in nebody the Noah coordinate system, transverse displacement d_Aand d_Bpoints a and b are moored vessel from the current position of the trajectory of convergence, which is the line:

Moreover, the transverse displacement of the considered point relative to the current position of the trajectory approximation is considered positive if it moves to the right from the path, and negative if it moves to the left.

Transverse bias is produced a signal to the deviation of the steering body, such as steering moored vessel by law:

where k_A, k_B- gain on pepper shifts fore and aft points moored vessel from the current position of the trajectory convergence. This is a positive value, and k_Andmore k_In. The rudder angle α is positive when it is relaying to the starboard side moored vessel.

By the end of the convergence moored vessel with the vessel partner is considered to be the time moored vessel to the second target point R₂that corresponds to the equality of the coordinates of the center of gravity of the moored vessel and the second given point, that is,

X_0G=X_0P2, Y_0G=Y_0P2.

As a result of application of the present invention allows the floor of the possible technical result - improving the safety management moored vessel and accuracy of mooring operations when performing its moored vessel to Board a partner in the movement, thus, the proposed method of control the vessel in carrying out mooring operations the vessel partner meets the criteria of patentability "industrial applicability".

1. Control method moored vessel in carrying out mooring operations the vessel partner values of the transverse displacements, located on the median plane of the ship, fore and aft In points from the current position of the trajectory approximation, in which the calculated lateral displacement of these points; for the calculation of the transverse displacements of the fore and aft points In the vessel of their coordinates in the stationary coordinate system And(X_0A, Y_0A), (X_0B, Y_0Bmeasure using a satellite navigation system (SNS) and with differential corrections; responsible for steering the vessel is produced depending on the combination of the transverse displacement of the nasal d_Aand feed d_Bpoints of the vessel relative to the current position of the trajectory of convergence, which is determined using a specified point as the object to which the converging of the vessel and the center of gravity of the vessel; the current position of the specified point and the current p is the position of the center of gravity of the vessel determines the current position of the trajectory approximation, passing through the two points as a straight line connecting the current position of the specified point and the current position of the center of gravity of the vessel G, the current coordinates of the center of gravity of the vessel in a stationary coordinate system are calculated according to the formula:
Y_0G=Y_0A-[(Y_0A-Y_0B)·(X_A-X_G)]/(X_A-X_B);
X_0G=X_0A-[(X_0A-X_0B)·(X_A-X_G)]/(X_A-X_B);
the current coordinates of a given point is determined using a satellite navigation system and with differential corrections, characterized in that it further determined using SNA and with differential corrections coordinates nasal And_n(X_0An, Y_0An) and feed In_n(X_0Bn, Y_0Bnpoints located on the median plane of the ship a partner in a stationary coordinate system, expect:
the coordinates of the center of gravity of the ship partner G_n(X_0Gn, Y_0Gnin the fixed coordinate system by the formula:
Y_0Gn=Y_0An-[(Y_0An-Y_0Bn)·(X_An-X_Gn)]/(X_An-X_Bn);
X_0Gn=X_0An-[(X_0An-X_0Bn)·(X_An-X_Gn)]/(X_An-X_Bn);
where X_0Gn, Y_0Gn- the coordinates of the center of gravity of the ship partner in a stationary coordinate system;
X_0An, Y_0An- coordinates of the points a_nin the stationary coordinate si is the subject;
X_0Bn, Y_0Bn- coordinates of a point In_nin the stationary coordinate system;
X_AnX_Bnthe abscissa of the bow and stern point of the ship partner, respectively, in the coordinate system (X_n, Y_n)associated with the vessel;
X_Gnthe abscissa of the center of gravity of the ship partner in the coordinate system associated with the vessel partner;
the coordinates of the pointslocated on the perpendicular to the median plane of the ship partner, restored in a_nand In_nrespectively, by the formulas:
X_{A n}=X_An+[h+0,5(B+B_n)]·cosψ_n;
Y_{A n}=Y_An-[h+0,5(B+B_n)]·sinψ_n;
X_{B n}=X_Bn+[h+0,5(B+B_n)]·cosψ_n;
Y_{B n}=Y_Bn-[h+0,5(B+B_n)]·sinψ_n,
thus the value of the line segments A_nis determined by using the dependencies represented by the formula: h₀=h a+0.5(B+B_nwhere is the width of the moored vessel;_n- the width of the vessel's partner; ψ_n- the ship's course partner, the value of the ship's course partner ψ_nthis is calculated using the coordinate values of points A_nand In_nin the stationary coordinate system, namely: ψ_n=arctan[(X_0An-X_0Bn)/(Y_0An-Y_0Bn)];
the coordinates of the projection of the center of gravity of the ship partner in the stationary coordinate system on the trajectory of convergence in the final stage of the mooring, which is parallel to the median plane of the ship a partner through the point

the coordinates of the second given point R₂(X_0P2, Y_0P2in the stationary coordinate system:

the coordinates of the first point-in P₁(X_0P1, Y_0P1in the stationary coordinate system:

where S_T- brake moored vessel when moving with velocity ν=ν_Hto speed ν=ν_to=ν_nwhere ν_n- initial velocity, i.e. the speed of the moored vessel in the first given point P₁, ν_to- end speed, i.e. the speed of the moored vessel in the second given point P₂the length of the braking distance equal to the distance, permeable moored vessel at its transition from a given point P₁in the given point P₂; received in this way the data allow for the convergence of the moored vessel with the vessel a partner in two stages:
The I-th stage output moored vessel in a first target point P₁the current position of the first given point P₁(X_0P1, Y_0P1) at the current position of the line passing through the current position of the point is to
is determined by the value of the segment P₁P₂whose length equals the distance permeable moored vessel while reducing its current speed to the value of ν is equal to the speed of the ship partner ν_nin the time moored vessel on the beam of the ship partner, that is, when the center of gravity of the moored vessel will be located at the point R₂; management moored vessel during rendezvous with the ship partner is carried out by the values of the transverse deviations of the nasal d_Aand feed d_Bpoints moored vessel from the current position of the trajectory convergence passing through the current position of the center of gravity of the moored vessel G(X_0G, Y_0G) and the current position of the first given point P₁(X_0P1, Y_0P1), the end of the I-th stage of convergence moored vessel with the vessel partner coincides with the moment of release of the moored vessel in the first set point, i.e. at the moment when the center of gravity of the moored vessel will be located at the point P₁;
II stage - output moored vessel to the second target point R₂the current position of the second given point R₂(X_0P2, Y_0P2) at the current position of the line passing through the pointis determined by the distance m between the centers of gravity moored court the and and ship partner in the final stage of the mooring, management moored vessel during rendezvous with the ship partner is carried out by the values of the transverse deviations of the nasal d_Aand feed d_Bpoints moored vessel from the current position of the trajectory of convergence, which is the current position of the line passing through the pointthe end of the second stage of convergence moored vessel with the vessel partner coincides with the moment of release of the moored vessel to the second target point, i.e. at the moment when the center of gravity of the moored vessel will be located at the point P₂.

2. The method according to claim 1, characterized in that in the process of mooring operations continuously determine the coordinates of the fore and aft points of the ship partner using a satellite navigation system and with differential corrections.

3. The method according to claim 1, characterized in that the current coordinates of the first set point and the second given point, for compliance with safety, mooring operations, calculated using the values of the current coordinates of the nasal And_n(X_0An, Y_0An) and feed In_n(X_0Bn, Y_0Bnpoints of the ship partner, a given distance between the sides of the moored vessels h and a given position of the moored vessel relative to the vessel partner in the final stage of the mooring m braking distance of the seam is of mousehole ship S _Twhen moving it from the original motion velocity ν to a speed equal to the speed of the ship partner ν_n.

4. The method according to claim 1, characterized in that the convergence of the moored vessel with the vessel partner is carried out in two stages:
The I-th stage of rapprochement with the first predetermined point;
II-phase - approximation to the second set point.